CN114445496A

CN114445496A - Test method, device, equipment, system and medium for relocation module

Info

Publication number: CN114445496A
Application number: CN202210101880.6A
Authority: CN
Inventors: 李春艳
Original assignee: Shenzhen TetrasAI Technology Co Ltd
Current assignee: Shenzhen TetrasAI Technology Co Ltd
Priority date: 2022-01-27
Filing date: 2022-01-27
Publication date: 2022-05-06
Also published as: WO2023142396A1

Abstract

The application discloses a test method, a device, equipment, a system and a medium for a relocation module, wherein the method comprises the following steps: acquiring first positioning auxiliary data acquired by an object to be positioned; repositioning the object to be positioned based on the first positioning auxiliary data by utilizing a repositioning module; by the method, the relocation module can be used for carrying out relocation based on the first positioning auxiliary data acquired by the object to be located, the processing data in the relocation process are acquired and used for reflecting the performance of the relocation module, and performance evaluation of the relocation module is achieved.

Description

Test method, device, equipment, system and medium for relocation module

Technical Field

The present application relates to the field of positioning technologies, and in particular, to a method, an apparatus, a device, a system, and a medium for testing a relocation module.

Background

When the terminal is subjected to continuous pose estimation, a situation that pose estimation is interrupted may often occur, and then after the pose estimation is interrupted, when the pose estimation is performed again, relocation can be performed through a relocation module to judge whether the current pose estimation can be continued to the pose estimation performed before, generally, the relocation module is used as a bottom layer algorithm, and a user can only subjectively feel the relocation effect from other displayed layers.

In a long-term research and development process, the applicant of the present application finds that there is no way to test and evaluate the relocation effect and precision of the relocation module itself, and it is difficult to determine whether the relocation effect and precision of the relocation module meet the use requirements.

Disclosure of Invention

The application at least provides a test method, a device, equipment, a system and a medium for a relocation module.

The application provides a test method of a relocation module, which comprises the following steps: acquiring first positioning auxiliary data acquired by an object to be positioned; repositioning the object to be positioned based on the first positioning auxiliary data by utilizing a repositioning module; and acquiring processing data of the relocation module in the relocation process, wherein the processing data is used for reflecting the performance of the relocation module.

Therefore, the relocation module is used for carrying out relocation based on the first positioning auxiliary data acquired by the object to be located, and the processing data in the relocation process is acquired to reflect the performance of the relocation module, so that the performance evaluation of the relocation module is realized.

The processing data comprises at least one of relocation execution condition data, relocation-based test pose information and performance loss data of a relocation process; the execution situation data indicates whether the relocation is successful, and the performance loss data includes at least one of time-consuming and resource-occupied situations of the relocation.

Therefore, the performance of the relocation module can be reflected from at least one of the success of relocation, the effect of relocation of the relocation module, and the performance loss of the relocation module, by at least one of the execution situation of relocation, the test pose information, and the performance loss data.

The test pose information comprises the test pose of the object to be positioned obtained through repositioning or the pose information of the virtual object displayed by the object to be positioned.

Therefore, the repositioning effect of the repositioning module can be reflected by the test pose of the object to be repositioned or the displayed pose information of the virtual object.

Wherein, the processing data includes execution situation data of relocation, after obtaining the processing data of relocation process performed by relocation module, the method further includes any one or more of the following steps: text prompts whether the relocation is successful; whether the relocation is successful is prompted by voice; and responding to successful repositioning, and displaying the virtual object based on the test pose of the object to be repositioned.

Thus, the user can be prompted from at least one perspective whether the relocation process is complete and the corresponding relocation is successful in the manner described above.

After the processing data of the relocation process performed by the relocation module is acquired, the method further includes: and determining the performance characteristic parameters of the relocation module by using the processing data, or sending the processing data to a preset terminal, wherein the preset terminal is used for determining the performance characteristic parameters of the relocation module by using the processing data.

Therefore, through the above manner, the test device or the preset terminal can determine the performance characterization parameters for characterizing the performance of the relocation module based on the processing data of relocation, so as to realize the evaluation of the performance of the relocation module.

Wherein determining performance characterizing parameters of the relocation module using the processed data comprises one or more of: responding to the processing data including the execution condition data, and obtaining the relocation success rate of the relocation by using the execution condition data of the multiple relocation, wherein the relocation success rate of the relocation is used as a performance characterization parameter, and the execution condition data indicates whether the relocation is successful or not; in response to the processing data comprising the time consumption of relocation, taking the time consumption of relocation as a performance characterization parameter; and responding to the processing data including test pose information obtained based on relocation, and comparing the test pose information with the true value pose information to obtain relocation accuracy, wherein the relocation accuracy is used as a performance characterization parameter.

Therefore, different processing data are respectively processed, and at least one of the relocation success rate, the time consumption of relocation and the relocation accuracy can be obtained so as to reflect the performance of the relocation module from different aspects.

Wherein, prior to comparing the test pose information to the true pose information, the method further comprises: the true value position and orientation information is obtained through a position and orientation sensing system in a testing environment, wherein the testing environment is the environment where testing equipment is located, or tracking position and orientation information obtained by a position and orientation tracking algorithm before the position and orientation tracking of an object to be positioned fails is obtained, true value position and orientation information is obtained based on the tracking position and orientation information, or image data collected before the position and orientation tracking of the object to be positioned fails is obtained, and the true value position and orientation information is obtained through the collected image data and preset map data of the testing environment.

Therefore, tracking pose information obtained by the pose tracking algorithm can be used for determining true value pose information to be compared with test pose information, and therefore the repositioning accuracy of the repositioning module is reflected.

Wherein, after determining the performance characterizing parameters of the relocation module using the processing data, the method further comprises any one or more of the following steps: for each performance characterization parameter, determining a performance type corresponding to the performance characterization parameter according to a value interval in which the performance characterization parameter is located; the method comprises the steps of displaying or comparing and analyzing performance information corresponding to multiple test conditions, wherein the performance information comprises at least one of performance characterization parameters and performance types corresponding to the performance characterization parameters, the multiple test conditions comprise at least one of a first test condition and a second test condition, the first test condition comprises the step of testing the same relocation module by using a first test device, and the second test condition comprises the step of testing the second relocation module by using the same test device.

Therefore, the performance type is obtained by processing the performance characterization parameters, and the performance of the relocation module can be reflected from different angles and in different modes by displaying or comparing and analyzing the performance characterization parameters and the performance types corresponding to the performance characterization parameters.

The method for acquiring the first positioning auxiliary data acquired by the object to be positioned comprises the following steps: and acquiring first positioning auxiliary data in response to the detected failure of the pose tracking of the object to be positioned.

Thus, when the pose tracking fails, the first positioning assistance data is acquired for relocation.

Wherein, detecting that the pose of the object to be positioned fails to track, includes: and detecting that the object to be positioned moves back and forth within a first time to reach a preset number, or detecting that the object to be positioned does not acquire effective second positioning auxiliary data within a second time, wherein the second positioning auxiliary data is used for realizing pose tracking.

Therefore, whether the state of pose tracking is a failure can be determined in different ways.

Wherein, the method also comprises: and prompting the failure of the pose tracking in response to the detection of the failure of the pose tracking of the object to be positioned.

Therefore, when the pose tracking fails, prompt can be given to enable the user to determine that the current pose tracking fails.

Before acquiring first positioning auxiliary data acquired by an object to be positioned, the method further comprises: and scanning the test environment to obtain a scene map of the test environment.

Thus, by scanning the test environment, a scene map can be obtained for repositioning.

Wherein relocating the object to be located based on the first location assistance data comprises: and obtaining the test pose of the object to be positioned based on the first positioning auxiliary data and the scene map.

Therefore, the relocation can be realized through the first auxiliary data and the scene map, and the test pose is obtained so as to be used for evaluating the relocation precision subsequently.

Wherein, the step of position appearance tracking includes: and obtaining tracking pose information of the object to be positioned based on second positioning auxiliary data and a scene map acquired by the object to be positioned.

Therefore, through the second positioning auxiliary data and the scene map, pose tracking can be achieved, and tracking pose information is obtained so as to obtain true value pose information.

Wherein, the method also comprises: and prompting the integrity information of the environment scanning in the process of scanning the test environment.

Therefore, the completeness of the current environment scanning can be determined by the user through the prompting of the completeness information.

Wherein, the method also comprises: before scanning the test environment, adjusting parameters of a light source of the test environment to meet preset requirements, wherein the parameters of the light source comprise at least one of intensity and color.

Therefore, the test environments under different light rays can be constructed by adjusting the light source of the test environment, so that the processing data can reflect the performance of the repositioning module under different light rays.

Wherein, the test method of the relocation module is executed before the relocation module is integrated in the application program.

Therefore, the relocation module can be decoupled from other modules of the application program, and compared with the method for testing the performance of the relocation module in the application program by using the integrated application program, the method only tests the relocation module, can reduce the influence of other modules of the application program on relocation, can further accurately determine the performance of the relocation module per se, and reduces the positioning analysis on the problems obtained by the test; in addition, by executing the test method of the relocation module before integration, the probability of integrating the relocation module with low performance into the application program can be reduced, and further the influence of poor performance of the relocation module on the application program is avoided.

Wherein the relocation module is for integration in an augmented reality application.

Therefore, the relocation module is integrated in the augmented reality application program, so that the performance of the relocation module for the augmented reality application program is accurately evaluated, the relocation module is accurately improved based on the performance subsequently, and the relocation performance of the augmented reality application program can be improved subsequently.

The application provides a test method of a relocation module, which comprises the following steps: acquiring processing data of the relocation process of the object to be located by the relocation module; and determining performance characterization parameters of the relocation module by using the processing data.

The application provides a test device of relocation module, and the device includes: the positioning system comprises a first acquisition module, a repositioning module and a second acquisition module, wherein the first acquisition module is used for acquiring first positioning auxiliary data acquired by an object to be positioned; the repositioning module is used for repositioning the object to be positioned based on the first positioning auxiliary data by utilizing the repositioning module; the second obtaining module is configured to obtain processing data of the relocation module in the relocation process, where the processing data is used to reflect performance of the relocation module.

The application provides a test device of relocation module, and the device includes: the third acquisition module is used for acquiring processing data of the relocation process of the relocation module on the object to be located; the characterization module is used for determining the performance characterization parameters of the relocation module by using the processing data.

The present application provides an electronic device comprising a processor and a memory, the memory for storing program data, the processor for executing the program data to implement any of the methods described above.

The application provides a test system of a relocation module, which comprises a processing device and a test device, wherein the processing device is used for executing the method of which the execution main body is the processing device, and the test device is used for executing the method of which the execution main body is the test device.

The present application provides a computer readable storage medium for storing program data executable to implement any of the methods described above.

In the scheme, the relocation module is used for carrying out relocation on the basis of the first positioning auxiliary data acquired by the object to be located, and the processing data in the relocation process is acquired to reflect the performance of the relocation module, so that the performance evaluation of the relocation module is realized.

Drawings

FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a method for testing a relocation module according to the present application;

FIG. 2 is a schematic flow chart diagram illustrating another embodiment of a method for testing a relocation module according to the present application;

FIG. 3 is a schematic flow chart diagram illustrating a method for testing a relocation module according to yet another embodiment of the present application;

FIG. 4 is a block diagram of an embodiment of a test apparatus for a relocation module according to the present application;

FIG. 5 is a block diagram of another embodiment of a test apparatus for a relocation module according to the present application;

FIG. 6 is a block diagram of an embodiment of an electronic device of the present application;

FIG. 7 is a block diagram of an embodiment of a test system for a relocation module according to the present application;

FIG. 8 is a block diagram of an embodiment of a computer-readable storage medium of the present application.

Detailed Description

In order to make the purpose, technical solution and effect of the present application clearer and clearer, the present application is further described in detail below with reference to the accompanying drawings and examples.

The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship. Further, the term "plurality" herein means two or more than two.

It is understood that the methods of the present application can include any of the method embodiments described below as well as any non-conflicting combinations of the method embodiments described below.

It can be understood that the test method of the relocation module can be roughly divided into two stages, the first stage is to perform relocation and acquire the processing data in the relocation process, and the second stage is to perform performance evaluation based on the processing data in the relocation process. The steps associated with the first stage may be performed by the test equipment and the steps associated with the second stage may be performed by the processing equipment, which may be the same equipment as the test equipment or may be different.

The relocation module for testing in the application can be integrated in the application program for application, the relocation module is operated independently instead of the application program integrated with the relocation module in the testing equipment for acquiring processing data, so that the relocation module is decoupled from other modules in the application program, and the relocation module is tested independently. The test method of the relocation module in the application is executed before the relocation module is integrated into the application program, and after the test is finished, the relocation module can be integrated into the application program.

Referring to fig. 1, fig. 1 is a schematic flowchart illustrating an embodiment of a testing method for a relocation module according to the present application. In this embodiment, the test device performs relocation and acquires processing data in the relocation process as an example, and the execution subject is the test device. In some cases, a map of the current environment is prestored in the device, when the device is in the map range, the device can determine the current pose according to the map, the device is changed from a pose tracking maintaining state to a tracking failure state due to some interference reasons, then whether the device is still in the environment before tracking failure can be judged by repositioning, and if the device is in the environment before tracking failure, the repositioning pose can be determined. The equipment for operation relocation is the object to be located, during the test process, the test equipment can pre-store a scene map of a test environment, and after relocation, the test pose of the object to be located (test equipment) can be obtained. The method comprises the following steps:

step S110: first positioning assistance data acquired by an object to be positioned is acquired.

The test equipment is an object to be positioned, and the test equipment may include an acquisition module configured to acquire positioning assistance data, where the positioning assistance data may reflect information in a current environment. For example, the acquisition module may be an image acquisition module, and the positioning assistance data may be feature point information, which may be processed based on image data acquired by the image acquisition module.

In general, when the relocation is performed, the device may no longer be in the map range where the device was located before, so that the pose of the current device in the map cannot be relocated and determined. In addition, even if the device is still within the map range, situations may arise in which repositioning cannot be completed, the current pose cannot be determined, and, in some cases, the pose obtained by repositioning may differ from the current true pose even if repositioning can be completed.

In order to test and evaluate the performance of the relocation module, before and after relocation can be in the same test environment during testing, so that the situation that relocation cannot be realized due to the difference of the environments where the equipment is located does not occur, and the test result can reflect the actual relocation situation under the condition that the relocation condition is met, and can also reflect the performance of the relocation module.

Since the test equipment is always in the test environment during the test, the first positioning assistance data collected by the object to be positioned in step S110 may actually be used to reflect information in the test environment.

Step S120: and repositioning the object to be positioned based on the first positioning auxiliary data by utilizing a repositioning module.

The test device may have a pre-stored scene map of the test environment, where the scene map of the test environment may include positioning assistance data in the test environment, which may reflect information in the test environment. The repositioning of the object to be positioned by the repositioning module based on the first positioning auxiliary data may be specifically that the first positioning auxiliary data is compared with positioning auxiliary data in a scene map of the test environment to perform repositioning, the test equipment may determine whether the object is currently in the test environment, and if so, determine a test pose currently in the test environment, and if the test pose is obtained within a preset time, the repositioning is successful.

It can be understood that if the test pose cannot be obtained within the preset time, the relocation may be considered to be failed. The preset time may be determined by the user on an as-needed basis.

Step S130: and acquiring processing data of the relocation module in the relocation process.

The processing data may include at least one of execution condition data of relocation, test pose information obtained based on relocation, and performance loss data of a relocation process, where the execution condition data indicates success or failure of relocation, the performance loss data includes at least one of resource occupation of relocation and time consumed for relocation if relocation is successful, and the resource occupation may include at least one of occupation of a CPU, a GPU, and a memory.

The processing data may be used to reflect the performance of the relocation module, and specifically, may reflect the relocation success rate of the relocation module when the relocation condition is satisfied, and the speed, accuracy, performance loss, and the like of the relocation.

In addition, the test method of the relocation module is executed before the relocation module is integrated in the application program, the relocation module can be decoupled from other modules of the application program, and compared with the method of testing the performance of the relocation module in the application program by using the integrated application program, the test method of the relocation module only tests the relocation module, can reduce the influence of other modules of the application program on relocation, further can accurately determine the performance of the relocation module, and reduces the positioning analysis of the problems obtained by the test; in addition, by executing the test method of the relocation module before integration, the probability of integrating the relocation module with low performance into the application program can be reduced, and further the influence of poor performance of the relocation module on the application program is avoided.

Referring to fig. 2, fig. 2 is a schematic flowchart illustrating a testing method for a relocation module according to another embodiment of the present application. The relocation module for testing in the embodiment of the present application may be integrated in an augmented reality application, for example, an application such as an AR game, an AR navigation, and the like. By integrating the relocation module in the augmented reality application program, the performance of the relocation module for the augmented reality application program is accurately evaluated, and then the relocation module is accurately improved subsequently based on the performance, so that the relocation performance of the augmented reality application program can be improved subsequently.

It should be noted that, in the normal application process of the relocation module, the terminal device running the relocation module may also communicate with the cloud server, obtain the auxiliary information from the cloud server, and assist the relocation module in relocation. In order to facilitate the test of the relocation module, the relocation module running in the test equipment can run off-line, that is, the auxiliary information cannot be acquired from the cloud server, and only the relocation module is used for carrying out relocation alone.

In this embodiment, the execution subject is a test device, where the test device executes one of step S250 and step S260, if the test device and the processing device are the same device, step S250 is executed, performance evaluation is performed based on the processing data in the relocation process, and if the test device and the processing device are different devices, step S260 is executed, and the processing device performs performance evaluation based on the processing data in the relocation process. The method comprises the following steps:

step S210: and scanning the test environment to obtain a scene map of the test environment.

The test scene map is a map used in repositioning, and the map may be pre-stored in the test device or may be constructed by scanning the test device, and the latter is taken as an example in this embodiment.

In step S210, the information in the test environment may be obtained by scanning the test environment, so as to construct a scene map of the test environment. Scanning the test environment may be accomplished using an image acquisition module, which in some embodiments may utilize a bluetooth module and a geomagnetic module in addition to the image acquisition module. Specifically, for example, the image data of the test environment can be acquired by using the image acquisition module, and the feature point cloud of the test environment can be processed and acquired as feature point information based on the image data, so as to construct a scene map of the test environment. The Bluetooth information of the test environment can be acquired by the Bluetooth module, the geomagnetic information of the test environment can be acquired by the geomagnetic module, and the Bluetooth information and the geomagnetic information can be used for assisting the feature point cloud to construct a scene map.

It should be noted that the scene map of the test environment may include positioning assistance data in the test environment to reflect information of the test environment, and the positioning assistance data may include feature point information, which may be obtained by processing image data of the test environment, and in some embodiments, the positioning assistance data may further include bluetooth information, geomagnetic information, and the like.

In some embodiments, in the process of scanning the test environment, the device may determine whether the information obtained by current scanning can construct a complete scene map, obtain integrity information of environment scanning, and prompt integrity information of environment scanning of a user, so that the user can determine the integrity of the current scanning, when the integrity meets a preset requirement, the user can determine that the scene map is constructed, end scanning the test environment, and enter a relocation test stage.

In order to judge the repositioning accuracy and control the pose of the test equipment to be kept unchanged before the positioning and tracking fails and after the repositioning is completed, under an ideal condition, the test pose obtained based on the repositioning should be consistent with the pose before the positioning and tracking failure stage, the pose before the positioning and tracking failure stage can be considered to be a true value pose, and the positioning accuracy of the repositioning module can be reflected by comparing the test pose with the true value pose.

Step S220: and acquiring first positioning auxiliary data in response to the detected failure of the pose tracking of the object to be positioned.

It will be appreciated that after completing the scene mapping of the test environment, the device may continue to acquire second positioning assistance data for enabling pose tracking of the object to be positioned (test device). Pose tracking may include: and obtaining tracking pose information of the object to be positioned based on second positioning auxiliary data and a scene map acquired by the object to be positioned. In some cases, the test equipment interrupts the tracking of the pose of the test equipment, so that the test equipment cannot be positioned, and the test equipment can be repositioned after the pose tracking failure of the object to be positioned is detected.

In a specific application scenario, in order to convert the test equipment into a pose tracking failure state, the test equipment can be converted into the pose tracking failure state by a way that a tester quickly swings the equipment or shields a camera for a long time, and the like, and relocation is started.

In response to detecting that the pose tracking of the object to be positioned fails, the method may specifically include: detecting that the object to be positioned moves back and forth within a first time to reach a preset number, or detecting that the object to be positioned does not acquire effective second positioning auxiliary data within a second time, wherein if the object to be positioned moves back and forth within the first time to reach the preset number, the testing equipment cannot perform pose tracking based on the data acquired within the first time, the testing equipment is converted into a pose tracking failure state, the second positioning auxiliary data is used for realizing pose tracking, and if the effective second positioning auxiliary data cannot be acquired, the pose tracking is interrupted, and the testing equipment is converted into the pose tracking failure state.

In some embodiments, to facilitate the tester determining that it is currently in a pose tracking failure state, the test equipment may prompt a pose tracking failure in response to detecting a pose tracking failure of the object to be positioned. The prompt can be in various manners, and the prompting manner can be determined according to the needs of the user, such as text prompt, voice prompt and the like.

Step S230: and repositioning the object to be positioned based on the first positioning auxiliary data by utilizing a repositioning module.

In a specific application scene, after the scene map is constructed, the test equipment is in a preset pose, and then the test equipment enters a tracking failure state, so that the test equipment is repositioned under the preset pose to obtain a test pose, and the preset pose can be used as a true value pose.

Step S230 may specifically be to obtain a test pose of the object to be positioned based on the first positioning assistance data and the scene map. Specifically, the first positioning assistance data may be compared with positioning assistance data included in a scene map, the positioning assistance data is taken as feature point information for example, the feature point information acquired during relocation is matched with the feature point information included in the scene map, and if the first positioning assistance data is matched with the positioning assistance data, the test pose is further determined according to the matched feature point information. If the positioning auxiliary data includes bluetooth information, the bluetooth information in the first positioning auxiliary data may be compared with the bluetooth information included in the scene map for assisting in determining the test pose.

Step S240: and acquiring processing data of the relocation module in the relocation process.

Step S240 may be implemented by running a test tool through the test equipment, and the test tool may acquire processing data during the relocation process of the relocation module.

It should be noted that, in general, the process of repositioning the repositioning module is not sensible to the user, but for the convenience of the test, the tester can determine the start and the end of a test, and after completing a test, the test equipment can prompt the end of the test, so that the tester can determine the end of the current test. The test can be finished in two ways, one is that the relocation is successful within the preset time, and the other is that the relocation is failed within the preset time, and the test is finished. The prompt of the test ending can be realized by prompting the execution condition of the test repositioning, and the prompt can adopt various modes, and the prompting mode can be determined according to the needs of users, such as text prompt, voice prompt and the like.

In a specific application scenario, after the processing data is obtained, the test device may prompt whether the relocation is successful or not by using a text.

In a specific application scenario, after the processing data is acquired, the testing device may prompt whether the relocation is successful or not by using a voice.

In some embodiments, the tester may be prompted to end the test in a manner of presetting a virtual object. Specifically, a virtual object is preset, if the relocation is successful, the test equipment can display the virtual object at a corresponding position after obtaining the test pose, if a tester can view the virtual object at the corresponding position, the test can be considered to be finished, the relocation is successful, and if the tester cannot view the virtual object within the preset time, the relocation can be considered to be failed. Further, the virtual object may always remain unchanged in relative pose with the object to be positioned, or the pose of the virtual object may be unchanged, so that a test person may view the virtual object at a certain fixed position or view the virtual object at a certain relative position.

The processing data may comprise at least one of execution data of the repositioning, test pose information obtained based on the repositioning, and performance loss data of the repositioning process, the test pose information may comprise a test pose of the object to be positioned obtained by the repositioning.

In some embodiments, the virtual object may be used to not only prompt the end of the test, but also determine test pose information, where the test pose information may include pose information of a virtual object displayed by the object to be positioned, specifically, if the virtual object may always keep a relative pose with the object to be positioned unchanged, the pose information of the virtual object may be a pose of the virtual object obtained based on the test pose, and if the pose of the virtual object is unchanged, the pose information of the virtual object may be a relative pose between the virtual object and the object to be positioned obtained based on the test pose.

The test pose information may correspond to true value pose information, and the test pose information and the true value pose information may correspond to true value pose information, and if the test pose information includes a test pose of the object to be positioned obtained by relocation, the true value pose information may include a preset pose of the object to be positioned. If the test pose information includes pose information of the virtual object displayed by the object to be positioned, the method further includes that under the condition that the virtual object and the object to be positioned always keep the relative pose unchanged, the test pose information includes the pose of the virtual object obtained based on the test pose and the fixed relative pose, and the corresponding true value pose information can be the pose of the virtual object obtained based on the preset pose and the fixed relative pose. Under the condition that the pose of the virtual object is not changed, the test pose information comprises a relative pose between the virtual object and the object to be positioned, which is obtained based on the test pose and the fixed pose of the virtual object, and the corresponding true value pose information can be the relative pose between the virtual object and the object to be positioned, which is obtained based on the preset pose and the fixed pose of the virtual object.

It should be noted that, in order to perform a comprehensive test on the relocation module and know performance of the relocation module on different terminals, a plurality of terminal devices may be selected as test devices. Then one of the plurality of terminal devices may be selected as the execution subject of the method steps of the embodiment, and then step S240 may be to obtain its own obtained processing data and the obtained processing data of other testing devices. In a specific application scenario, the terminal device is a mobile phone, and a plurality of types of mobile phones can be selected as the test device.

In order to test the performance of the relocation module in different environments, a plurality of locations may be selected as test environments in at least one real environment, it being understood that different locations in a larger range of environments may also be considered different test environments. For each test device, relocation is performed in each test environment, a set of processing data can be obtained by once relocation, and the set of processing data includes at least one of execution condition data of relocation, test pose information obtained based on relocation, and performance loss data of the relocation process. In some embodiments, during testing, before scanning the test environment, the light source parameters of the test environment are adjusted to meet preset requirements, where the parameters of the light source include at least one of intensity and color, so that the test environments with different light beams can be further constructed based on a certain test environment, and based on different light conditions of the test environment, the performance of the relocation module under different light conditions can be correspondingly reflected.

In addition, since the relocation module can be continuously iterated, the above-mentioned test can be performed on each version of the relocation module, that is, for each version of the relocation module, the relocation module runs on all the test devices, and the relocation module is respectively performed under different test environments. Specifically, for example, the test device includes a and B, the test environment includes a, B, and c, the relocation module 1 is respectively operated on the test device a and the test device B, relocation is performed once in the test environment a, B, and c, and similarly, the relocation module 2 obtains processing data corresponding to 12 times of relocation.

Step S250: the performance characterizing parameters of the relocation module are determined using the processed data.

Step S250 may specifically include one or more of the following steps: responding to the processing data including execution condition data, and obtaining the relocation success rate of the relocation by using the execution condition data of the multiple relocation, wherein the execution condition data represents whether the relocation is successful or not, and the relocation success rate is used as a performance characterization parameter; in response to the processing data comprising the time consumption of relocation, taking the time consumption of relocation as a performance characterization parameter; and responding to the processing data including test pose information obtained based on relocation, and comparing the test pose information with the true value pose information to obtain relocation accuracy, wherein the relocation accuracy is used as a performance characterization parameter.

It should be noted that, before comparing the test pose information with the true value pose information, the test equipment may acquire the true value pose information in advance, and actually, the true value pose information is reflected as the preset pose, and the acquisition manner may be various, for example, the true value pose information may be acquired by the test equipment by using a pose tracking algorithm before the test equipment acquires the tracking pose information of the object to be positioned before the tracking of the pose fails, and the true value pose information is acquired based on the pose tracking information.

In some embodiments, a pose sensing system may be disposed in the test environment, and the pose sensing system may be utilized to determine true pose information of the test equipment, wherein the pose sensing system may include a number of cameras and/or sensors, etc.

In some embodiments, preset map data of the test environment may be pre-constructed by using other devices, for example, the preset map data may be collected and constructed by using a high-precision collection device, and the true-value pose information may be obtained by using image data collected by the test device before the pose tracking failure, or further, by using the last collected image data in combination with the preset map data.

In some embodiments, a plane map of the test environment may be constructed in advance, and based on the position and angle of the test device in the plane map, the position and angle of the test device in the direction perpendicular to the plane map are controlled, so that true value pose information can be obtained. Wherein the success rate of repositioning may be obtained by dividing the success rate of repositioning by the total rate of repositioning, and the accuracy of repositioning may be based on the difference between the test pose information and the true pose information. In some embodiments, the repositioning accuracy may be derived based on the difference in pose, or alternatively, the test pose information and the true pose information may be converted into position information accordingly, and the repositioning accuracy may be derived based on the difference in position information. Specifically, for example, the content included in the test pose information and the content included in the true value pose information are corresponding, and the two are compared correspondingly, for example, the test pose information includes a test position, and the true value pose information includes a true value position, so that the repositioning accuracy can be determined based on the difference between the test position and the true value position, for example, the repositioning accuracy can be determined directly by using the difference as the repositioning accuracy or by comparing the difference with an expected error value.

In some embodiments, the performance loss data in the processing data may further include the resource occupation status of the relocation, and then the resource occupation status may be directly used as the performance characterizing parameter, or may be compared with an expected value of the resource occupation, and the comparison result may be used as the performance characterizing parameter.

It should be noted that a part of the performance characterizing parameters may be obtained based on the processing data of multiple relocations, for example, the relocation success rate, and a part of the performance characterizing parameters may be obtained based on the processing data of one relocation, for example, the time consumption of the relocation, the relocation accuracy, and the like. For the latter, after obtaining a performance characterization parameter value based on the processing data of one relocation, further statistical processing may be performed on the performance characterization parameters corresponding to the multiple relocations from multiple dimensions, for example, an average, a mode, and a median of time consumption of the relocations corresponding to the same test device, and an average, a mode, and a median of time consumption of the relocations corresponding to the same test environment may be respectively counted. Therefore, the performance characterization parameters of the relocation module can be known from multiple dimensions, and the performance of the relocation module can be reflected from multiple dimensions.

Step S260: and sending the processing data to a preset terminal.

Then, the preset terminal is used as a processing device to process the processing data to obtain the performance characterizing parameters of the relocation module, and the related description of the performance characterizing parameters obtained by the processing device may refer to the related content of step S250.

In some embodiments, after obtaining the performance characterizing parameters, the testing device may further determine, for each performance characterizing parameter, a performance type corresponding to the performance characterizing parameter according to a value interval in which the performance characterizing parameter is located. The value interval where the performance characterization parameter is located and the division of the performance type may be set according to user requirements, for example, one division manner of the performance type may be excellent, general, or poor.

In a specific application scenario, for the relocation success rate, if the relocation success rate is greater than 80%, it may be determined that the performance type corresponding to the relocation success rate is excellent, if the relocation success rate is less than or equal to 80% and greater than 65%, it may be determined that the performance type corresponding to the relocation success rate is general, and if the relocation success rate is less than or equal to 65%, it may be determined that the performance type corresponding to the relocation success rate is poor.

In a specific application scenario, for time spent in relocation, if the time spent in relocation is less than 200ms, it may be determined that a performance type corresponding to the time spent in relocation is excellent, if the time spent in relocation is greater than or equal to 200ms and less than 1s, it may be determined that the performance type corresponding to the time spent in relocation is general, and if the time spent in relocation is greater than 1s, it may be determined that the performance type corresponding to the time spent in relocation is poor.

In some embodiments, the test device may further display or compare performance information corresponding to a plurality of test conditions, where the performance information may include at least one of a performance characterization parameter and a performance type corresponding to the performance characterization parameter. The display mode may include multiple modes, for example, the content of the performance information may be directly displayed, or the performance information may be displayed in the form of a graph.

The multiple test conditions comprise at least one of a first number of first test conditions and a second number of second test conditions, wherein the first number of first test conditions comprise that the same relocation module is respectively tested by using the first number of test equipment, and the second number of second test conditions comprise that the same test equipment is respectively tested by using the second number of relocation modules.

In a specific application scenario, 3 pieces of terminal equipment A, B, C are selected as test equipment, and 2 relocation modules a and b are selected as relocation modules to be tested, so that one of the first test cases may be that the relocation modules a are respectively run on the 3 pieces of terminal equipment A, B, C, performance performances of the relocation modules a on different pieces of terminal equipment may be displayed and analyzed based on performance information corresponding to the test case, and one of the second test cases may be that the relocation modules a and b are respectively run on the terminal equipment a, and performance performances of different relocation modules on the same terminal equipment may be displayed and analyzed based on performance information corresponding to the test case.

It should be noted that each of the first/second test cases may also include a plurality of relocation test procedures, for example, when the relocation module a is run on the 3 terminal devices A, B, C, each terminal device may run the relocation module a in a plurality of test environments, and then performance information of the relocation module may also be displayed or analyzed based on dimensions of the test environments.

In addition, the performance information corresponding to a plurality of first test cases may be displayed or compared, or the performance information corresponding to a plurality of second test cases may be displayed or compared, for example, the relocation module a is run on the 3 terminal devices A, B, C, and the relocation module b is run on the 3 terminal devices A, B, C, and the performance information corresponding to the two types of first test cases may be displayed and compared, so as to reflect the performance of the relocation module a and the relocation module b on the terminal devices.

In this embodiment, after the test device executes step S260, the performance characterization parameters obtained based on the processing data and the related steps of further processing the performance characterization parameters may all be executed by the preset terminal.

Generally speaking, the relocation module performs relocation to reflect a change of content displayed to a user by an application program where the relocation module is located to a certain extent, for example, in AR navigation, after navigation is lost, after relocation is performed, an AR icon displayed to the user may change, for example, reappear, or change in location.

In the above scheme, the relocation module is used for relocating based on the first positioning auxiliary data acquired by the object to be relocated, the processing data in the relocation process is acquired to reflect the performance of the relocation module, different processing data are respectively processed to obtain the performance characterization parameters, and the performance evaluation of the relocation module is realized from multiple aspects.

Referring to fig. 3, fig. 3 is a schematic flowchart of a testing method for a relocation module according to another embodiment of the present application, where an execution subject is a processing device in the present embodiment. The method comprises the following steps:

step S310: and acquiring processing data of the relocation process of the object to be located by the relocation module.

Step S310 is to obtain the processing data from the testing device, and if there are a plurality of testing devices, the processing device may obtain the processing data from the plurality of testing devices, respectively.

Step S320: using the process data, performance characterizing parameters of the relocation module are determined.

The related description of step S320 may refer to the phase content of step S250, and after obtaining the performance characterization parameters, further processing and analysis may be performed based on the performance characterization parameters, and the related operations and the description may refer to the related operations performed after obtaining the performance characterization parameters in the foregoing embodiments.

In the above scheme, the performance evaluation of the relocation module is realized by obtaining the processing data of the relocation module in the relocation process of the object to be located, so as to reflect the performance of the relocation module.

Referring to fig. 4, fig. 4 is a schematic diagram of a framework of an embodiment of a testing apparatus of a relocation module according to the present application.

In this embodiment, the testing apparatus 40 of the repositioning module includes a first obtaining module 41, a repositioning module 42 and a second obtaining module 42, where the first obtaining module 41 may be configured to obtain first positioning auxiliary data acquired by an object to be positioned; a relocation module 42 may be configured to relocate the object to be located based on the first positioning assistance data using the relocation module; the second obtaining module 43 may be configured to obtain processing data of the relocation module for performing the relocation process, where the processing data is used to reflect performance of the relocation module.

The processing data includes relocation execution condition data, and the test apparatus 40 of the relocation module may further include a prompt module, configured to execute any one or more of the following steps after acquiring the processing data of the relocation process performed by the relocation module: text prompts whether the relocation is successful; whether the relocation is successful is prompted by voice; and responding to successful repositioning, and displaying the virtual object based on the test pose of the object to be repositioned.

The test device 40 of the relocation module may further include a characterization module, configured to determine a performance characterization parameter of the relocation module by using the processing data after the processing data of the relocation module in the relocation process is acquired, or send the processing data to a preset terminal, where the preset terminal is configured to determine the performance characterization parameter of the relocation module by using the processing data.

Wherein the characterization module is configured to determine performance characterization parameters of the relocation module using the processing data, and includes one or more of: responding to the processing data including the execution condition data, and obtaining the relocation success rate of the relocation by using the execution condition data of the multiple relocation, wherein the relocation success rate of the relocation is used as a performance characterization parameter, and the execution condition data indicates whether the relocation is successful or not; in response to the processing data comprising the time consumption of relocation, taking the time consumption of relocation as a performance characterization parameter; and responding to the processing data including test pose information obtained based on relocation, and comparing the test pose information with the true value pose information to obtain relocation accuracy, wherein the relocation accuracy is used as a performance characterization parameter.

The testing apparatus 40 of the repositioning module may further include a tracking module, configured to acquire true value pose information through a pose sensing system in a testing environment before comparing the testing pose information with the true value pose information, where the testing environment is an environment in which the testing device is located; or acquiring tracking pose information of the object to be positioned obtained by using a pose tracking algorithm before the tracking of the pose of the object to be positioned fails, and obtaining true value pose information based on the tracking pose information, or acquiring image data of the object to be positioned collected before the tracking of the pose of the object to be positioned fails, and obtaining true value pose information by using the collected image data and preset map data of a test environment.

The characterization module can be further used for determining a performance type corresponding to the performance characterization parameter for each performance characterization parameter according to a value interval where the performance characterization parameter is located after the performance characterization parameter of the relocation module is determined by using the processing data; the method comprises the steps of displaying or comparing and analyzing performance information corresponding to multiple test conditions, wherein the performance information comprises at least one of performance characterization parameters and performance types corresponding to the performance characterization parameters, the multiple test conditions comprise at least one of a first number of first test conditions and a second number of second test conditions, the first number of first test conditions comprises the step of respectively testing the same relocation module by using a first number of test devices, and the second number of second test conditions comprises the step of respectively testing the second number of relocation modules by using the same test device.

The first obtaining module 41 is configured to obtain first positioning auxiliary data acquired by an object to be positioned, and includes: and acquiring first positioning auxiliary data in response to the detected failure of the pose tracking of the object to be positioned.

The prompt module can be further used for responding to the fact that the pose tracking of the object to be positioned fails, and prompting that the pose tracking fails.

The testing device 40 of the repositioning module may further include a scanning module, configured to scan the testing environment to obtain a scene map of the testing environment before acquiring the first positioning assistance data acquired by the object to be positioned.

The relocation module 42 is configured to relocate the object to be located based on the first positioning assistance data, and includes: and obtaining the test pose of the object to be positioned based on the first positioning auxiliary data and the scene map.

Wherein, tracking module carries out the position appearance and tracks, includes: and obtaining tracking pose information of the object to be positioned based on second positioning auxiliary data and a scene map acquired by the object to be positioned.

The prompting module can be used for prompting the integrity information of the environment scanning in the process of scanning the testing environment.

The scanning module may be further configured to adjust a parameter of a light source of the test environment to meet a preset requirement before scanning the test environment, where the parameter of the light source includes at least one of intensity and color.

Wherein the testing of the relocation module is performed before the relocation module is integrated in the application.

Referring to fig. 5, fig. 5 is a schematic diagram of a testing apparatus of another embodiment of a relocation module according to the present application.

In this embodiment, the testing device 50 of the relocation module includes a third obtaining module 51 and a representation module 52, where the third obtaining module 51 is configured to obtain processing data of the relocation module in the relocation process of the object to be located; the characterization module 52 is configured to determine a performance characterization parameter of the relocation module using the processing data.

Referring to fig. 6, fig. 6 is a schematic frame diagram of an embodiment of an electronic device according to the present application.

In this embodiment, the electronic device 60 includes a memory 61 and a processor 62, wherein the memory 61 is coupled to the processor 62. Specifically, the various components of the electronic device 60 may be coupled together by a bus, or the processor 62 of the electronic device 60 may be connected to each of the other components one by one. The electronic device 60 may be any device with processing capabilities, such as a computer, a tablet, a cell phone, etc.

The memory 61 is used for storing program data executed by the processor 62, data in the process of processing by the processor 62, and the like. For example, testing pose information, performance characterization parameters, etc. The memory 61 includes a nonvolatile storage portion for storing the program data.

The processor 62 controls the operation of the electronic device 60, and the processor 62 may also be referred to as a Central Processing Unit (CPU). The processor 62 may be an integrated circuit chip having signal processing capabilities. The processor 62 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. In addition, the processor 62 may be commonly implemented by a plurality of circuit-forming chips.

The processor 62 is arranged to execute instructions to implement the test method of any of the relocation modules described above by calling program data stored in the memory 61.

Referring to fig. 7, fig. 7 is a block diagram illustrating an embodiment of a test system of a relocation module according to the present application.

In this embodiment, the test system 70 of the relocation module includes a processing device 71 and a test device 72, where the processing device 71 and the test device 72 are different devices, where the test device 72 may be configured to execute the test method of the relocation module whose execution subject is the test device, run the relocation module, and obtain processing data, and the processing device 71 may be configured to execute the test method of the relocation module whose execution subject is the processing device, process the processing device, and obtain a performance characterization parameter. In some embodiments, the test equipment 72 may also be used to acquire true pose information.

Referring to fig. 8, fig. 8 is a block diagram illustrating an embodiment of a computer-readable storage medium according to the present application.

In this embodiment, the computer readable storage medium 80 stores processor executable program data 81 that can be executed to implement any of the above described methods for testing a relocation module.

The computer-readable storage medium 80 may be a medium that can store program data, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, or may be a server that stores the program data, and the server can send the stored program data to other devices for operation or can self-operate the stored program data.

In some embodiments, the computer-readable storage medium 80 may also be a memory as shown in FIG. 6.

Some embodiments of the present disclosure relate to the field of augmented reality, and detect or identify relevant features, states, and attributes of a target object by means of various visual correlation algorithms by acquiring image information of the target object in a real environment, thereby obtaining an AR effect combining virtual and reality matching with a specific application. For example, the target object may relate to a face, a limb, a gesture, an action, etc. associated with a human body, or a marker, a marker associated with an object, or a sand table, a display area, a display item, etc. associated with a venue or a place. The vision-related algorithms may involve visual localization, SLAM, three-dimensional reconstruction, image registration, background segmentation, key point extraction and tracking of objects, pose or depth detection of objects, and the like. The specific application can not only relate to interactive scenes such as navigation, explanation, reconstruction, virtual effect superposition display and the like related to real scenes or articles, but also relate to special effect treatment related to people, such as interactive scenes such as makeup beautification, limb beautification, special effect display, virtual model display and the like.

The detection or identification processing of the relevant characteristics, states and attributes of the target object can be realized through the convolutional neural network. The convolutional neural network is a network model obtained by performing model training based on a deep learning framework.

In some embodiments, functions of or modules included in the apparatus provided in the embodiments of the present disclosure may be used to execute the method described in the above method embodiments, and specific implementation thereof may refer to the description of the above method embodiments, and for brevity, will not be described again here.

The foregoing description of the various embodiments is intended to highlight various differences between the embodiments, and the same or similar parts may be referred to each other, and for brevity, will not be described again herein.

The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims

1. A method of testing a relocation module, the method comprising:

acquiring first positioning auxiliary data acquired by an object to be positioned;

relocating, with the relocation module, the object to be located based on the first positioning assistance data;

and acquiring processing data of the relocation module in the relocation process, wherein the processing data is used for reflecting the performance of the relocation module.

2. The method according to claim 1, wherein the processing data includes at least one of execution situation data of the relocation, test pose information obtained based on the relocation, and performance loss data of the relocation process; the execution situation data indicates whether the relocation is successful, and the performance loss data includes at least one of a time consumption of the relocation and a resource occupation situation of the relocation.

3. The method according to claim 2, wherein the test pose information comprises test poses of the object to be positioned obtained by the repositioning, or pose information of a virtual object displayed by the object to be positioned;

and/or the processing data comprises execution condition data of the relocation, and after the processing data of the relocation process performed by the relocation module is acquired, the method further comprises any one or more of the following steps:

text prompting whether the repositioning is successful;

voice prompting whether the relocation is successful;

and responding to the successful repositioning, and displaying the virtual object based on the test pose of the object to be positioned obtained by repositioning.

4. The method according to any one of claims 1 to 3, wherein after said obtaining processing data of said relocation process performed by said relocation module, said method further comprises:

determining performance characterizing parameters of the relocation module using the processed data, or,

and sending the processing data to a preset terminal, wherein the preset terminal is used for determining the performance characterization parameters of the relocation module by using the processing data.

5. The method of claim 4, wherein said determining performance characteristic parameters of said relocation module using said processed data comprises one or more of:

responding to the processing data including execution condition data, and obtaining the relocation success rate of the relocation by using the execution condition data of the multiple times of relocation, wherein the relocation success rate of the relocation is used as the performance characterization parameter, and the execution condition data indicates whether the relocation is successful or not;

in response to the processing data comprising a time to relocation, taking the time to relocation as the performance characteristic parameter;

and responding to the processing data including test pose information obtained based on the repositioning, and comparing the test pose information with true pose information to obtain the repositioning accuracy, wherein the repositioning accuracy is used as the performance characterization parameter.

6. The method of claim 5, wherein prior to said comparing the test pose information and the true pose information, the method further comprises:

acquiring the true value pose information through a pose sensing system in a test environment, wherein the test environment is the environment of the test equipment; alternatively, the first and second electrodes may be,

acquiring tracking pose information of the object to be positioned, which is acquired by using a pose tracking algorithm before the pose tracking fails, and acquiring true value pose information based on the tracking pose information; alternatively, the first and second electrodes may be,

acquiring image data of the object to be positioned before the failure of position and attitude tracking, and obtaining the true value position and attitude information by using the acquired image data and the preset map data of the test environment.

7. The method according to any of claims 4 to 6, wherein after said determining performance characterizing parameters of said relocation module using said processing data, said method further comprises any one or more of the steps of:

for each performance characterization parameter, determining a performance type corresponding to the performance characterization parameter according to a value interval where the performance characterization parameter is located;

the method comprises the steps of displaying or comparing and analyzing performance information corresponding to multiple test conditions, wherein the performance information comprises at least one of performance characterization parameters and performance types corresponding to the performance characterization parameters, the multiple test conditions comprise at least one of a first number of first test conditions and a second number of second test conditions, the first number of first test conditions comprises the step of respectively testing the same relocation module by using a first number of test devices, and the second number of second test conditions comprises the step of respectively testing the second number of relocation modules by using the same test devices.

8. The method according to any of the claims 1 to 7, wherein said obtaining first positioning assistance data acquired by an object to be positioned comprises:

and acquiring the first positioning auxiliary data in response to the detected failure of the pose tracking of the object to be positioned.

9. The method of claim 8, wherein the detecting of the failure of the pose tracking of the object to be located comprises:

detecting that the object to be positioned moves back and forth to reach a preset amount in a first time, or detecting that effective second positioning auxiliary data are not acquired by the object to be positioned in a second time, wherein the second positioning auxiliary data are used for realizing the pose tracking;

and/or, the method further comprises:

and prompting the failure of the pose tracking in response to detecting the failure of the pose tracking of the object to be positioned.

10. The method according to claim 8 or 9, characterized in that prior to said obtaining first positioning assistance data acquired by an object to be positioned, the method further comprises:

scanning the test environment to obtain a scene map of the test environment;

the relocating the object to be located based on the first positioning assistance data comprises:

obtaining a test pose of the object to be positioned based on the first positioning auxiliary data and the scene map;

the pose tracking step includes:

and obtaining tracking pose information of the object to be positioned based on second positioning auxiliary data acquired by the object to be positioned and the scene map.

11. The method of claim 10, further comprising:

prompting the integrity information of the environment scanning in the process of scanning the test environment; and/or the presence of a gas in the gas,

before scanning a test environment, adjusting parameters of a light source of the test environment to meet preset requirements, wherein the parameters of the light source comprise at least one of intensity and color.

12. The method according to any one of claims 1 to 11, characterized in that the test method of the relocation module is performed before the relocation module is integrated in an application;

and/or the relocation module is used for being integrated in an augmented reality application program.

13. A method of testing a relocation module, the method comprising:

acquiring processing data of the relocation process of the object to be located by the relocation module;

and determining performance characterization parameters of the relocation module by using the processing data.

14. A test apparatus for relocating modules, the apparatus comprising:

the first acquisition module is used for acquiring first positioning auxiliary data acquired by an object to be positioned;

a relocation module, configured to relocate, by using the relocation module, the object to be located based on the first positioning assistance data;

a second obtaining module, configured to obtain processing data of the relocation module in the relocation process, where the processing data is used to reflect performance of the relocation module.

15. A test apparatus for relocating modules, said apparatus comprising:

the third obtaining module is used for obtaining the processing data of the relocation process of the relocation module on the object to be located;

and the characterization module is used for determining the performance characterization parameters of the relocation module by using the processing data.

16. An electronic device, characterized in that the electronic device comprises a processor and a memory for storing program data, the processor being adapted to execute the program data to implement the method of any of claims 1-12 or claim 13.

17. A test system for relocating modules, the system comprising processing means and test means, wherein the test means is arranged to perform the method according to any one of claims 1 to 12 and the processing means is arranged to perform the method according to claim 13.

18. A computer-readable storage medium, characterized in that the computer-readable storage medium is used for storing program data that can be executed for implementing the method according to any one of claims 1-12 or 13.